Search Results (48)

Groundwater is a critical yet understudied resource in Peru, where surface water has traditionally dominated national assessments. This study provides the first country-scale analysis of groundwater storage (GWS) variability in Peru from 2003 to 2023 using satellite gravimetry data from the Gravity Recovery and Climate Experiment (GRACE) and GRACE Follow-On (GRACE-FO) missions. We used the GRACE Data Assimilation-Data Mass Modeling (GRACE-DA-DM GLV3.0) dataset at 0.25° resolution to estimate annual GWS trends and evaluated the influence of El Niño–Southern Oscillation (ENSO) events and anthropogenic extraction, supported by in situ well data from six major aquifers. Results show a sustained GWS decline of 30–40% in coastal and Andean regions, especially in Lima, Ica, Arequipa, and Tacna, while the Amazon basin remained stable. Strong correlation (r = 0.95) between GRACE data and well records validate the findings. Annual precipitation analysis from 2003 to 2023, disaggregated by climatic zone, revealed nearly stable trends. Coastal El Niño events (2017 and 2023) triggered episodic recharge in the northern and central coastal regions, yet these were insufficient to reverse the sustained groundwater depletion. This research provides significant contributions to understanding the spatiotemporal dynamics of groundwater in Peru through the use of satellite gravimetry data with unprecedented spatial resolution. The findings reveal a sustained decline in GWS across key regions and underscore the urgent need to implement integrated water management strategies—such as artificial recharge, optimized irrigation, and satellite-based early warning systems—aimed at preserving the sustainability of the country’s groundwater resources. Full article

Humanoid soccer robots operate in dynamic, unpredictable, and often partially observable settings. Effective teamwork, sound decision-making, and real-time collaboration are critical to competitive performance. In this paper, a biologically inspired swarm-intelligence framework for humanoid soccer is proposed, comprising (1) a low-overhead communication User Datagram Protocol (UDP) optimized for minimal bandwidth and graceful degradation under packet loss; (2) an Ant Colony Optimization (ACO)-based decentralized role allocation mechanism that dynamically assigns attackers, midfielders, and defenders based on real-time pheromone trails and local fitness metrics; (3) a Reynolds’ flocking-based formation control scheme, modulated by role-specific weighting to ensure fluid transitions between offensive and defensive formations; and (4) an adaptive behavior layer integrating lightweight reinforcement signals and proactive failure-recovery strategies to maintain cohesion under robot dropouts. Simulations demonstrate a 25–40% increase in goals scored and an 8–10% boost in average ball possession compared to centralized baselines. Full article

Recent studies have identified a near six-year oscillation (SYO) in Global Navigation Satellite Systems (GNSS) surface displacements, with a degree 2, order 2 spherical harmonic (SH) pattern and retrograde motion. The cause is uncertain, with proposals ranging from deep Earth to near-surface sources. This study investigates the SYO and possible causes from surface loading. Considering the irregular spatiotemporal distribution of GNSS data and the variety of contributors to surface displacements, we used synthetic experiments to identify optimal techniques for estimating low degree SH patterns. We confirm a reported retrograde SH degree 2, order 2 displacement using GNSS data from the same 35 stations used in a previous study for the 1995–2015 period. We also note that its amplitude diminished when the time span of observations was extended to 2023, and the retrograde dominance became less significant using a larger 271-station set. Surface loading estimates showed that terrestrial water storage (TWS) loads contributed much more to the GNSS degree 2, order 2 SYO, than atmospheric and oceanic loads, but TWS load estimates were highly variable. Four TWS sources—European Centre for Medium-Range Weather Forecasts Reanalysis 5 (ERA5), Modern-Era Retrospective analysis for Research and Applications (MERRA), Global Land Data Assimilation System (GLDAS), and Gravity Recovery and Climate Experiment (GRACE/GRACE Follow-On)—yielded a wide range (24% to 93%) of predicted TWS contributions with GRACE/GRACE Follow-On being the largest. This suggests that TWS may be largely responsible for SYO variations in GNSS observations. Variations in SYO GNSS amplitudes in the extended period (1995–2023) were also consistent with near surface sources. Full article

The Qinghai–Tibet Plateau (QTP), a critical hydrological regulator for Asia through its extensive glacier systems, high-altitude lakes, and intricate network of rivers, exhibits amplified sensitivity to climate-driven alterations in precipitation regimes and ice mass balance. While the Gravity Recovery and Climate Experiment (GRACE) and its Follow-On (GRACE-FO) missions have revolutionized monitoring of terrestrial water storage anomalies (TWSAs) across this hydrologically sensitive region, spatial resolution limitations (3°, equivalent to ~300 km) constrain process-scale analysis, compounded by mission temporal discontinuity (data gaps). In this study, we present a novel downscaling framework integrating temporal gap compensation and spatial refinement to a 0.25° resolution through Gated Recurrent Unit (GRU) neural networks, an architecture optimized for univariate time series modeling. Through the assimilation of multi-source hydrological parameters (glacier mass flux, cryosphere–precipitation interactions, and land surface processes), the GRU-based result resolves nonlinear storage dynamics while bridging inter-mission observational gaps. Grid-level implementation preserves mass conservation principles across heterogeneous topographies, successfully reconstructing seasonal-to-interannual TWSA variability and also its long-term trends. Comparative validation against GRACE mascon solutions and process-based hydrological models demonstrates enhanced capacity in resolving sub-basin heterogeneity. This GRU-derived high-resolution TWSA is especially valuable for dissecting local variability in areas such as the Brahmaputra Basin, where complex water cycling can affect downstream water security. Our study provides transferable methodologies for mountainous hydrogeodesy analysis under evolving climate regimes. Future enhancements through physics-informed deep learning and next-generation climatology–hydrology–gravimetry synergy (e.g., observations and models) could further constrain uncertainties in extreme elevation zones, advancing the predictive understanding of Asia’s water tower sustainability. Full article

This study investigated and compared the spatiotemporal evolution and driving factors of groundwater storage anomalies (GWSAs) under the dual pressures of climate change and urban expansion in two contrasting river basins of China. Integrating GRACE and GLDAS data with multi-source remote sensing data and using attribution analysis, we reveal divergent urban GWSA dynamics between the humid Yangtze River Basin (YZB) and semi-arid Yellow River Basin (YRB). The GWSAs in YZB urban grids showed a marked increasing trend at 3.47 mm/yr (p < 0.05) during 2002–2020, aligning with the upward patterns observed in agricultural land types including dryland and paddy fields, rather than exhibiting the anticipated decline. Conversely, GWSAs in YRB urban grids experienced a pronounced decline (−5.59 mm/yr, p < 0.05), exceeding those observed in adjacent dryland regions (−5.00 mm/yr). The contrasting climatic regimes form the fundamental drivers. YZB’s humid climate (1074 mm/yr mean precipitation) with balanced seasonality amplified groundwater recharge through enhanced surface runoff (+6.1%) driven by precipitation increases (+7.4 mm/yr). In contrast, semi-arid YRB’s water deficit intensified, despite marginal precipitation gains (+3.5 mm/yr), as amplified evapotranspiration (+4.1 mm/yr) exacerbated moisture scarcity. Human interventions further differentiated trajectories: YZB’s urban clusters demonstrated GWSA growth across all city types, highlighting the synergistic effects of urban expansion under humid climates through optimized drainage infrastructure and reduced evapotranspiration from impervious surfaces. Conversely, YRB’s over-exploitation due to rapid urbanization coupled with irrigation intensification drove cross-sector GWSA depletion. Quantitative attribution revealed climate change dominated YZB’s GWSA dynamics (86% contribution), while anthropogenic pressures accounted for 72% of YRB’s depletion. These findings provide critical insights for developing basin-specific management strategies, emphasizing climate-adaptive urban planning in water-rich regions versus demand-side controls in water-stressed basins. Full article

Extended Kalman Filter (EKF) is extensively employed in Global Navigation Satellite System (GNSS)-based real-time orbit determination (RTOD) for microsatellites due to its low complexity. However, the performance of EKF-RTOD is markedly degraded when the microsatellite deviates from a stable Earth-pointing attitude and employs a low-cost receiver. Factor graph optimization (FGO), which addresses nonlinear problems through multiple iterations and re-linearization, has demonstrated superior accuracy and robustness compared to EKF in challenging environments such as urban canyons. In this study, we introduce a novel FGO-based RTOD (FGO-RTOD) approach, which integrates state transfer factors to establish temporal connections between state nodes across multiple epochs. Real-time processing is achieved through a sliding window mechanism combined with marginalization. This paper evaluates the performance of the proposed algorithm in a regular scenario using data from GRACE-FO-A, which maintains the Earth-pointing attitude and employs a high-performance receiver. The positioning results of GRACE-FO-A indicate that FGO-RTOD marginally outperforms EKF-RTOD in accuracy. Furthermore, the performance of FGO-RTOD is assessed in challenging scenarios using simulation data and on-orbit data from Tianping-2B microsatellite, which is not in an Earth-pointing attitude and employs a low-cost receiver. The simulation results reveal that FGO-RTOD reduces the Root Mean Square (RMS) of positioning error by 79.0% relative to EKF-RTOD and exhibits significantly enhanced smoothing. In the Tianping-2B experiments, FGO-RTOD reduces the RMS of carrier-phase ionosphere-free combination residuals from 2 cm to 1 cm relative to EKF-RTOD, alongside a substantial improvement in the ratio of valid observations. These findings underscore the effectiveness of FGO-RTOD in managing outlier measurements in challenging scenarios. Full article

In order to cope with the shortage of non-renewable energy and the increasingly environmental pollution, sustainable vegetable oils, as competitive alternatives, have widely been held in the good graces of the researchers. Vegetable oils are suitable for a wide range of applications such as biofuels and biodiesel. However, the development of vegetable oils is limited due to the characteristics of unsatisfactory oxidation stability and poor cold-flow properties. Chemical modification is considered as an effective solution to enhance the performance. The research progress of the chemical modification methods and applications of vegetable oils in recent years are summarized in this review. Reducing the content of carbon–carbon double bonds and increasing the degree of saturation are the keys to improve the physicochemical properties of vegetable oils. The prospects for the development direction and challenges of vegetable oils are proposed. Future research may focus on the use of multifunctional catalysts to optimize reaction conditions or to introduce active groups with lubricating properties in epoxidation reactions and explore the combination of chemical and auxiliary methods. Full article

Over the past two decades, the Gravity Recovery and Climate Experiment (GRACE) satellite mission and its successor, GRACE-follow on (GRACE-FO), have played a vital role in climate research. However, the absence of certain observations during and between these missions has presented a persistent challenge. Despite numerous studies attempting to address this issue with mathematical and statistical methods, no definitive optimal approach has been established. This study introduces a practical solution using Linear Regression Analysis (LRA) to overcome data gaps in both GRACE data types—mascon and spherical harmonic coefficients (SHCs). The proposed methodology is tailored to monsoon patterns and demonstrates efficacy in filling data gaps. To validate the approach, a global analysis was conducted across eight basins, monitoring changes in total water storage (TWS) using the technique. The results were compared with various geodetic products, including data from the Swarm mission, Institute of Geodesy and Geoinformation (IGG), Quantum Frontiers (QF), and Singular Spectrum Analysis (SSA) coefficients. Artificial data gaps were introduced within GRACE observations for further validation. This research highlights the effectiveness of the monsoon method in comparison to other gap-filling approaches, showing a strong similarity between gap-filling results and GRACE’s SHCs, with an absolute relative error approaching zero. In the mascon approach, the coefficient of determination (R²) exceeded 91% for all months. This study offers a readily usable gap-filling product—SHCs and smoothed gridded observations—with accurate error estimates. These resources are now accessible for a wide range of applications, providing a valuable tool for the scientific community. Full article

Terrestrial water storage (TWS) is pivotal in understanding environmental dynamics, climate change, and human impacts. Despite the utility of land surface models, uncertainties persist in their parameterization schemes. This study employs GRACE (Gravity Recovery and Climate Experiment) satellite data to optimize the runoff parameterization scheme within the Common Land Model by a data assimilation and parameter optimization method. The optimization algorithm sets an adjustment factor that varies with time and space for runoff simulation and updates it along with the running of the land surface model. The evaluation reveals that there are improved correlation coefficients and reduced root mean square errors compared to GRACE observations. Independent assessments by using in situ river discharge observations demonstrate enhanced model performance, particularly in mountainous regions such as western North America. This study underscores the efficacy of integrating GRACE data to improve land surface model parameterization, offering more accurate predictions of TWS changes. Full article

Background: Non-ST-elevation myocardial infarction (NSTEMI), a disease of mounting interest, continues to pose challenges and cast shadows of doubt on determining the optimal timing for revascularization. The current guidelines on NSTEMI recommend coronary angiography based on the GRACE score, emphasizing the critical need for early invasive assessment (within 24 h); very-high-risk patients have to undergo this intervention even sooner, within 2 h. We believe that a reality check of these assumptions is needed and that we should endeavor to update these strategies using new predictive markers. Materials and methods: Our study included patients hospitalized for NSTEMI over the course of 16 months. Simple blood parameters, namely MCV (mean corpuscular volume), MPV (mean platelet volume), RDW (red blood cell distribution width), and PDW (platelet distribution width), were analyzed in correlation with the extent of the myocardial infarction area and with complications during hospitalization and at 30-day follow-up. Results: The parameters mentioned above have been identified as statistically relevant indicators of prognosis in patients with NSTEMI. Conclusions: In the present day, living in the world of the blue sky concept allows us to search for new diagnostic algorithms. Therefore, the combination of these parameters can constitute the DNA strands of a new and up-to-date score stratification. Full article

Global Navigation Satellite System (GNSS) vertical displacements are widely used to infer terrestrial water storage (TWS) variations. The traditional Laplacian inversion requires dedicated efforts to determine the optimal parameters, which has an important effect on the spatial patterns. In this study, we develop a new GNSS inversion method with flexible spatial constraints. One major merit is that the new method only requires loose boundary conditions rather than optimal parameters. A closed-loop simulation shows that the inversion using spatial constraints is improved by 7–21% compared with the Laplacian constraints. We apply this method to 18 watersheds across the Contiguous United States (CONUS) to infer daily TWS variations from January 2018 to August 2022. The results show that the amplitudes of monthly TWS time series from the spatial and Laplacian constraints are comparable to the Gravity Recovery and Climate Experiment (GRACE) Follow-On (GFO) in 16 watersheds. Furthermore, the standard deviation between the spatial constraints and GFO is at the same level as that between the Laplacian constraints and GFO. We also extract the daily TWS variations caused by heavy precipitation events in California. Our results demonstrate that spatial constraint inversion supplements the existing constraint strategies of GNSS inversion in hydrogeodesy; therefore, spatial constraint inversion can be an alternative tool for GNSS inversion. Full article

Groundwater depletion is adversely affecting Beijing’s ecology and environment. However, the effective execution of the South-to-North Water Diversion Project’s middle route (SNDWP-MR) is anticipated to mitigate Beijing’s groundwater depletion. Here, we propose a robust hybrid statistical downscaling method aimed at enhancing the capability of the Gravity Recovery and Climate Experiment (GRACE) to detect the small-scale groundwater storage anomaly (GWSA) in Beijing. We used three deep learning (DL) methods to reconstruct the 0.5° × 0.5° terrestrial water storage anomaly (TWSA) between 2004 and 2021. Moreover, multiple processing strategies were used to downscale the GWSA to 0.25° from 2004 to 2021 by integrating wells and GRACE/GRACE follow-on data from the optimal DL model. Additionally, we analyzed the spatiotemporal evolution trends of GW in Beijing before and after the implementation of the SNDWP-MR. The results show that the long short-term memory model delivers optimal performance in the TWSA reconstruction of Beijing, with the correlation coefficient (CC), Nash–Sutcliffe coefficient (NSE), and root mean square error (RMSE) being 0.98, 0.96, and 10.19 mm, respectively. The GWSA before and after downscaling is basically consistent with wells data, but the CC and RMSE of downscaling the GWSA from 2004 to 2021 are improving by 34% and 31%, respectively. Before the SNDWP-MR (2004–2014), the trend of GWSA in Beijing was $-$17.68 ± 4.46 mm/y, with a human contribution of 69.30%. After SNDWP-MR (2015–2021), GWSA gradually increased by 10.00 mm per year, with the SNDWP-MR accounting for 18.30%. This study delivers a technical innovation reference for dynamically monitoring a small-scale GWSA from GRACE/GRACE-FO data. Full article

Background: the prognosis of patients with myocardial infarction with non-obstructive coronary arteries (MINOCA) is not benign; thus, prompting the need to validate prognostic scoring systems for this population. Aim: to evaluate and compare the prognostic performance of GRACE, TIMI, HEART, and ACEF scores in MINOCA patients. Methods: A total of 250 MINOCA patients from January 2017 to September 2021 were included. For each patient, the four scores at admission were retrospectively calculated. The primary outcome was a composite of all-cause death and acute myocardial infarction (AMI) at 1-year follow-up. The ability to predict 1-year all-cause death was also tested. Results: Overall, the tested scores presented a sub-optimal performance in predicting the composite major adverse event in MINOCA patients, showing an AUC ranging between 0.7 and 0.8. Among them, the GRACE score appeared to be the best in predicting all-cause death, reaching high specificity with low sensitivity. The best cut-off identified for the GRACE score was 171, higher compared to the cut-off of 140 generally applied to identify high-risk patients with obstructive AMI. When the scores were tested for prediction of 1-year all-cause death, the GRACE and the ACEF score showed very good accuracy (AUC = 0.932 and 0.828, respectively). Conclusion: the prognostic scoring tools, validated in AMI cohorts, could be useful even in MINOCA patients, although their performance appeared sub-optimal, prompting the need for risk assessment tools specific to MINOCA patients. Full article

Land motions are significantly widespread in the Yellow River delta (YRD). There is, however, a lack of understanding of the delta-wide comprehensive deformation mode and its dynamic mechanism, especially triggered by groundwater extraction. This paper adopts an integrated analysis of multidisciplinary data of image geodesy, geophysics, geology and hydrogeology to provide insights into Earth surface displacement patterns and dynamics in the YRD. Delta-scale land motions were measured for the first time using L-band ALOS images processed using multi-temporal InSAR, illustrating multiple obvious surface sinking regions and a maximum annual subsidence velocity of up to 130 mm. Then, the InSAR-constrained distributed point source model with optimal kernel parameters, a smoothness factor of 10 and a model grid size of 300 m was established and confirmed to be rational, reliable and accurate for modeling analysis over the YRD. Remarkable horizontal surface displacements, moving towards and converging on a sinking center, were recovered by means of modeling and measured using InSAR, with a maximum rate of up to 60 mm per year, which can trigger significant disasters, such as ground fissures and building damage. In addition, the annual total water storage variation at the delta scale, the most meaningful outcome, can be calculated and reaches a total of approximately 12,010 × 10³ m³ in Guangrao city, efficiently filling the gap of GRACE and in situ investigations for delta-wide aquifer monitoring. Finally, a comparative analysis of time series InSAR measurements, modeling outcomes, and fault and groundwater data was conducted, and the strong agreement demonstrates that faults control aquifer distribution and hence the spatial distribution of groundwater-withdrawal-related regional land subsidence. Moreover, the obvious asymmetric displacements, demonstrating a northeasterly displacement trend, further reveal that faults control aquifer distribution and Earth surface deformation. These findings are useful for understanding the land motion patterns and dynamics, helping to sustainably manage groundwater and control disasters in the YRD and elsewhere worldwide. Full article

Using the Gravity Recovery and Climate Experiment (GRACE) satellite to monitor groundwater storage (GWS) anomalies (GWSAs) at the local scale is difficult due to the low spatial resolution of GRACE. Many attempts have been made to downscale GRACE-based GWSAs to a finer resolution using statistical downscaling approaches. However, the time-lag effect of GWSAs relative to environmental variables and optimal model parameters is always ignored, making it challenging to achieve good spatial downscaling, especially for arid regions with longer groundwater infiltration paths. In this paper, we present a novel spatial downscaling method for constructing GRACE-based 1 km-resolution GWSAs by using the back propagation neural network (BPNN) and considering the time-lag effect and the number of hidden neurons in the model. The method was validated in Alxa League, China. The results show that a good simulation performance was achieved by adopting varying lag times (from 0 to 4 months) for the environmental variables and 14 hidden neurons for all the networks, with a mean correlation coefficient (CC) of 0.81 and a mean root-mean-square error (RMSE) of 0.70 cm for each month from April 2002 to December 2020. The downscaled GWSAs were highly consistent with the original data in terms of long-term temporal variations (the decline rate of the GWSAs was about −0.40 ± 0.01 cm/year) and spatial distribution. This study provides a feasible approach for downscaling GRACE data to 1 km resolution in arid regions, thereby assisting with the sustainable management and conservation of groundwater resources at different scales. Full article